Quote:
Originally Posted by dtgriscom
Why does this require such enormous values of D?
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According to
this post, D is multiplied by the difference in error,
not by the (difference in error)/(sample time). Since the PID in the Jag runs at 1000Hz, that factor of 1000 needs to be in your D gain. That's my guess.
What's the resolution (counts per degree) of your encoder, and how fast are you moving the arm (degrees per millisecond) when you're looking for a voltage?